The use of low-budget self-assembly sets for research and robotics education

• Autorzy: Cheluszka Piotr

Identyfikatory

DOI

10.1515/mspe-2019-0010

• Języki publikacji: EN

Abstrakty

EN

The article presents the possibilities of using easily accessible and inexpensive educational sets in scientific research and the process of robotics education. Such kits allow the exploration of theoretical and practical knowledge taking into account aspects of engineering, such as: mechanics, drive systems, sensor systems, control and programming of robots. Models of robots built from inexpensive components can also be used to test new solutions in the field of construction or control algorithms before they are used in real applications. As an example, the model of the palletizing manipulator for self-assembly was shown, the control of which was based on the Arduino Uno controller, while the drives were implemented using low-cost hobby-grade servos. For the kinematic structure of this manipulator, the forward and inverse kinematics task for the position has been discussed. This constituted the basis for the development of a manual control algorithm implemented in the controller – using a joystick and programmed – based on the data sent to the controller using serial communication from a PC. The article presents the results of the computer simulation of the manipulator kinematics, the hardware and software implementation of the robot model and the effects of its operation. The possibility of expanding the control system with additional elements to increase its functionality was indicated.

Słowa kluczowe

EN

industrial robot; manipulator; self-assembly set; kinematics; control; programming

• Wydawca: STE GROUP
• Czasopismo: Management Systems in Production Engineering
• Rocznik: 2019
• Tom: nr 1 (27)
• Strony: 55--62
• Opis fizyczny: Bibliogr. 15 poz., rys., tab.

Twórcy

autor

Cheluszka Piotr

• Silesian University of Technology, Faculty of Mining and Geology, Department of Mining Mechanization and Robotisation ul. Akademicka 2, 44-100 Gliwice, Poland

Bibliografia

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• [10] D. Rivas, M. Alvarez, P. Velasco, J. Mamarandi, J.L. Carrillo-Medina, V. Bautista, O. Galarza, P. Reyes, M. Erazo, M. Pérez, M. Huerta. “BRACON: Control system for a robotic arm with 6 degrees of freedom for education systems”, in Proc. of the 6th International Conference on Automation, Robotics and Applications, Feb 17-19, 2015, Queenstown, New Zealand, pp. 358-363.
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• [13] J.J. Craig: Introduction to robotics: mechanics and control. Pearson Education International, 2005.
• [14] S. Kucuk, Z. Bingul. “Robot Kinematics: Forward and Inverse Kinematics”, in Industrial-Robotics-TheoryModelling-Control, S. Cubero (ed.), ARS/PLV, 2006, pp. 117-148.
• [15] Morecki, J. Knapczyk (red.): Podstawy robotyki. Teoria i elementy manipulatorów i robotów. WNT, 1999. [16] https://www.arduino.cc [Apr. 26, 2018].

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).